Exact Decentralized Receding Horizon Planning for Multiple Aerial Vehicles
Indrajeet Yadav, Herbert G. Tanner · 2021 60th IEEE Conference on Decision and Control (CDC) · 2021
This article presents a decentralized approach to motion planning for a group of aerial vehicles that combines deliberate and reactive planning strategies to ensure multivehicle interception of a moving target and coordinated tracking while keeping a desired formation. A new on-board receding horizon planning and control architecture realizes each vehicle’s motion plan by generating and tracking dynamically feasible trajectories, while also incorporating a reactive collision avoidance feature that allow them to avoid collisions with each other and with a priori unknown obstacles. The ability of the architecture to safely steer the vehicles to their intercepting formation time-varying positions is demonstrated in realistic Gazebo simulations.